| During the operation of the electro-hydraulic servo synchronous two-cylinder control system there are some issues such as uncertainty and time variation of the system parameters,the difference between the two subsystems and the unbalanced load perturbation.Due to the aforementioned issues,the output response of the two cylinders can be inconsistent,resulting in a dissynchronization situation.Dissynchronization of the output displacement will affect the load performance and reliability of the system for safety reasons.Therefore,the position synchronization control of two-hydraulic actuators should be investigated.The electro-hydraulic servo position control system is studied with the goal of improving the tracking and synchronization accuracy of the system.The main content of the research is:Firstly,the basic composition of the electrohydraulic servo position-control system is analyzed.Once a mathematical model has been established for each basic building block of the system,the mathematical model for the single cylinder system is derived.With the aim of analyzing the force of the two-cylinder system and establishing the mathematical model of the synchronous two-cylinder system that can describe the coupling relation of the system.According to the established mathematical model,the stability analysis is carried out.The performance index of the system and the requirements of the system are established in this paper.Theoretically analyze the cause of the dissynchronization.Secondly,the basic composition of the electro-hydraulic synchronous servo control system is analysed,we establish a model of the system structure,simulate the dynamic characteristics,coupling characteristics,and timing characteristics of the synchronous two-cylinder control system,the factors affecting the two-cylinder synchronization are verified,and the influence laws of their respective changes on the output and synchronization accuracy of the two-cylinder system are summarized.Then,the purpose of the dynamic soft variable structure control(DSVSC)based synchronous controller is to determine the parameters of the two-cylinder synchronous control system based on the gray wolf algorithm.Different simulation forms are used to analyze the response characteristics of the system under ideal conditions and different degrees of bias.By simulation comparison,the synchronization controller based on dynamic flexible variable structure can improve the tracking accuracy and synchronization accuracy and avoid jitter.Finally,the synchronization accuracy and tracking accuracy of the two-cylinder system under sinusoidal and step signals with different parameters are analyzed experimentally.And for sinusoidal response,the variation of synchronization error with frequency and amplitude is verified.For step response,the variation of synchronization error with final value and step time is verified.By analyzing the experimental results,the validity and accuracy of the DSVSC-based synchronization controller are compared and verified. |
